import time
import unittest

from transformers import is_torch_available
from transformers.testing_utils import require_torch, torch_device

from ..test_modeling_common import ids_tensor


if is_torch_available():
   import torch

   from transformers.generation import (
       MaxLengthCriteria,
       MaxNewTokensCriteria,
       MaxTimeCriteria,
       StoppingCriteriaList,
       validate_stopping_criteria,
   )




@require_torch
class 					_UpperCAmelCase			(     unittest.TestCase  ):



 '''simple docstring'''




 def 		__UpperCAmelCase				(		self				:   List[Any]							, lowercase_				:   Dict)						->	Optional[Any]:


   """simple docstring"""







   _UpperCamelCase           =    3
   _UpperCamelCase           =    250

   _UpperCamelCase           =    ids_tensor((batch_size, length)							, lowercase_)
   _UpperCamelCase           =    torch.ones((batch_size, length)							, device=lowercase_							, dtype=torch.float) / length
   return input_ids, scores







 def 		__UpperCAmelCase				(		self				:   Any)						->	Optional[int]:


   """simple docstring"""







   _UpperCamelCase      ,						_UpperCamelCase           =    self._get_tensors(5)

   _UpperCamelCase           =    StoppingCriteriaList(
       [
           MaxLengthCriteria(max_length=10),
           MaxTimeCriteria(max_time=0.1),
       ])

   self.assertFalse(criteria(lowercase_							, lowercase_))

   _UpperCamelCase      ,						_UpperCamelCase           =    self._get_tensors(9)
   self.assertFalse(criteria(lowercase_							, lowercase_))

   _UpperCamelCase      ,						_UpperCamelCase           =    self._get_tensors(10)
   self.assertTrue(criteria(lowercase_							, lowercase_))







 def 		__UpperCAmelCase				(		self				:   Tuple)						->	int:


   """simple docstring"""







   _UpperCamelCase           =    MaxLengthCriteria(max_length=10)

   _UpperCamelCase      ,						_UpperCamelCase           =    self._get_tensors(5)
   self.assertFalse(criteria(lowercase_							, lowercase_))

   _UpperCamelCase      ,						_UpperCamelCase           =    self._get_tensors(9)
   self.assertFalse(criteria(lowercase_							, lowercase_))

   _UpperCamelCase      ,						_UpperCamelCase           =    self._get_tensors(10)
   self.assertTrue(criteria(lowercase_							, lowercase_))







 def 		__UpperCAmelCase				(		self				:   Optional[int])						->	int:


   """simple docstring"""







   _UpperCamelCase           =    MaxNewTokensCriteria(start_length=5							, max_new_tokens=5)

   _UpperCamelCase      ,						_UpperCamelCase           =    self._get_tensors(5)
   self.assertFalse(criteria(lowercase_							, lowercase_))

   _UpperCamelCase      ,						_UpperCamelCase           =    self._get_tensors(9)
   self.assertFalse(criteria(lowercase_							, lowercase_))

   _UpperCamelCase      ,						_UpperCamelCase           =    self._get_tensors(10)
   self.assertTrue(criteria(lowercase_							, lowercase_))

   _UpperCamelCase           =    StoppingCriteriaList([criteria])
   self.assertEqual(criteria_list.max_length							, 10)







 def 		__UpperCAmelCase				(		self				:   int)						->	str:


   """simple docstring"""







   _UpperCamelCase      ,						_UpperCamelCase           =    self._get_tensors(5)

   _UpperCamelCase           =    MaxTimeCriteria(max_time=0.1)
   self.assertFalse(criteria(lowercase_							, lowercase_))

   _UpperCamelCase           =    MaxTimeCriteria(max_time=0.1							, initial_timestamp=time.time() - 0.2)
   self.assertTrue(criteria(lowercase_							, lowercase_))







 def 		__UpperCAmelCase				(		self				:   Optional[int])						->	Tuple:


   """simple docstring"""







   validate_stopping_criteria(StoppingCriteriaList([MaxLengthCriteria(10)])							, 10)

   with self.assertWarns(lowercase_):
     validate_stopping_criteria(StoppingCriteriaList([MaxLengthCriteria(10)])							, 11)

   _UpperCamelCase           =    validate_stopping_criteria(StoppingCriteriaList()							, 11)

   self.assertEqual(len(lowercase_)							, 1)





import numpy as np
import torch
import tqdm

from ...models.unet_ad import UNetaDModel
from ...pipelines import DiffusionPipeline
from ...utils import randn_tensor
from ...utils.dummy_pt_objects import DDPMScheduler




class 					_UpperCAmelCase			(     lowerCAmelCase  ):



 '''simple docstring'''




 def __init__(		self				:   int							, lowercase_				:   UNetaDModel							, lowercase_				:   UNetaDModel							, lowercase_				:   DDPMScheduler							, lowercase_				:   Any							, )						->	Any:


   """simple docstring"""







   super().__init__()
   _UpperCamelCase           =    value_function
   _UpperCamelCase           =    unet
   _UpperCamelCase           =    scheduler
   _UpperCamelCase           =    env
   _UpperCamelCase           =    env.get_dataset()
   _UpperCamelCase           =    {}
   for key in self.data.keys():
     try:
       _UpperCamelCase           =    self.data[key].mean()
     except:  # noqa: E722
       pass
   _UpperCamelCase           =    {}
   for key in self.data.keys():
     try:
       _UpperCamelCase           =    self.data[key].std()
     except:  # noqa: E722
       pass
   _UpperCamelCase           =    env.observation_space.shape[0]
   _UpperCamelCase           =    env.action_space.shape[0]







 def 		__UpperCAmelCase				(		self				:   Any							, lowercase_				:   Optional[int]							, lowercase_				:   Optional[Any])						->	Tuple:


   """simple docstring"""







   return (x_in - self.means[key]) / self.stds[key]







 def 		__UpperCAmelCase				(		self				:   Any							, lowercase_				:   Tuple							, lowercase_				:   Optional[Any])						->	List[Any]:


   """simple docstring"""







   return x_in * self.stds[key] + self.means[key]







 def 		__UpperCAmelCase				(		self				:   List[Any]							, lowercase_				:   Optional[Any])						->	List[Any]:


   """simple docstring"""







   if type(lowercase_) is dict:
     return {k: self.to_torch(lowercase_) for k, v in x_in.items()}
   elif torch.is_tensor(lowercase_):
     return x_in.to(self.unet.device)
   return torch.tensor(lowercase_							, device=self.unet.device)







 def 		__UpperCAmelCase				(		self				:   Optional[Any]							, lowercase_				:   Any							, lowercase_				:   Union[str, Any]							, lowercase_				:   List[str])						->	Tuple:


   """simple docstring"""







   for key, val in cond.items():
     _UpperCamelCase           =    val.clone()
   return x_in







 def 		__UpperCAmelCase				(		self				:   Union[str, Any]							, lowercase_				:   Optional[int]							, lowercase_				:   str							, lowercase_				:   List[Any]							, lowercase_				:   int)						->	Dict:


   """simple docstring"""







   _UpperCamelCase           =    x.shape[0]
   _UpperCamelCase           =    None
   for i in tqdm.tqdm(self.scheduler.timesteps):
     # create batch of timesteps to pass into model
     _UpperCamelCase           =    torch.full((batch_size,)							, lowercase_							, device=self.unet.device							, dtype=torch.long)
     for _ in range(lowercase_):
       with torch.enable_grad():
         x.requires_grad_()

         # permute to match dimension for pre-trained models
         _UpperCamelCase           =    self.value_function(x.permute(0							, 2							, 1)							, lowercase_).sample
         _UpperCamelCase           =    torch.autograd.grad([y.sum()]							, [x])[0]

         _UpperCamelCase           =    self.scheduler._get_variance(lowercase_)
         _UpperCamelCase           =    torch.exp(0.5 * posterior_variance)
         _UpperCamelCase           =    model_std * grad

       _UpperCamelCase           =    0
       _UpperCamelCase           =    x.detach()
       _UpperCamelCase           =    x + scale * grad
       _UpperCamelCase           =    self.reset_xa(lowercase_							, lowercase_							, self.action_dim)

     _UpperCamelCase           =    self.unet(x.permute(0							, 2							, 1)							, lowercase_).sample.permute(0							, 2							, 1)

     # TODO: verify deprecation of this kwarg
     _UpperCamelCase           =    self.scheduler.step(lowercase_							, lowercase_							, lowercase_							, predict_epsilon=lowercase_)["prev_sample"]

     # apply conditions to the trajectory (set the initial state)
     _UpperCamelCase           =    self.reset_xa(lowercase_							, lowercase_							, self.action_dim)
     _UpperCamelCase           =    self.to_torch(lowercase_)
   return x, y







 def __call__(		self				:   Optional[int]							, lowercase_				:   str							, lowercase_				:   int=64							, lowercase_				:   Any=32							, lowercase_				:   List[Any]=2							, lowercase_				:   str=0.1)						->	Optional[int]:


   """simple docstring"""







   _UpperCamelCase           =    self.normalize(lowercase_							, "observations")
   _UpperCamelCase           =    obs[None].repeat(lowercase_							, axis=0)

   _UpperCamelCase           =    {0: self.to_torch(lowercase_)}
   _UpperCamelCase           =    (batch_size, planning_horizon, self.state_dim + self.action_dim)

   # generate initial noise and apply our conditions (to make the trajectories start at current state)
   _UpperCamelCase           =    randn_tensor(lowercase_							, device=self.unet.device)
   _UpperCamelCase           =    self.reset_xa(lowercase_							, lowercase_							, self.action_dim)
   _UpperCamelCase           =    self.to_torch(lowercase_)

   # run the diffusion process
   _UpperCamelCase      ,						_UpperCamelCase           =    self.run_diffusion(lowercase_							, lowercase_							, lowercase_							, lowercase_)

   # sort output trajectories by value
   _UpperCamelCase           =    y.argsort(0							, descending=lowercase_).squeeze()
   _UpperCamelCase           =    x[sorted_idx]
   _UpperCamelCase           =    sorted_values[:, :, : self.action_dim]
   _UpperCamelCase           =    actions.detach().cpu().numpy()
   _UpperCamelCase           =    self.de_normalize(lowercase_							, key="actions")

   # select the action with the highest value
   if y is not None:
     _UpperCamelCase           =    0
   else:
     # if we didn't run value guiding, select a random action
     _UpperCamelCase           =    np.random.randint(0							, lowercase_)

   _UpperCamelCase           =    denorm_actions[selected_index, 0]
   return denorm_actions




